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2020 – today
- 2025
[j11]Ilyass Taouil
, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini:
Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. IEEE Robotics Autom. Lett. 10(2): 1265-1272 (2025)- 2024
- [j10]Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. J. Field Robotics 41(6): 1829-1842 (2024) - [c26]Alex T. Leonardi, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains. CLAWAR (2) 2024: 304-315 - [c25]Victor Barasuol, Sinan Emre, Vivian Suzano Medeiros, Angelo Bratta, Claudio Semini:
Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots. ICRA 2024: 3457-3463 - [c24]Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. IROS 2024: 11139-11146 - [c23]Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. IROS 2024: 12734-12741 - [i19]Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. CoRR abs/2403.11742 (2024) - [i18]Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. CoRR abs/2403.19862 (2024) - [i17]Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini:
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning. CoRR abs/2408.07508 (2024) - 2023
- [j9]Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini:
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. IEEE Trans. Robotics 39(2): 885-904 (2023) - [c22]Victor Barasuol, Sinan Emre, Claudio Semini:
Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs. CLAWAR (1) 2023: 251-262 - [c21]Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini:
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. Humanoids 2023: 1-8 - [c20]Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol:
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. IROS 2023: 1-8 - [c19]Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke:
Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. IROS 2023: 800-806 - [i16]Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol:
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. CoRR abs/2307.04918 (2023) - [i15]Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke:
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller. CoRR abs/2307.12292 (2023) - [i14]Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini:
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. CoRR abs/2307.12664 (2023) - [i13]Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini:
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. CoRR abs/2307.14775 (2023) - 2022
- [c18]Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. ICRA 2022: 4679-4685 - [c17]Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. IROS 2022: 9620-9627 - [c16]Aureo Guilherme Dobrikopf, Lucas Schulze, Douglas Wildgrube Bertol, Victor Barasuol:
MPC-Based Reference Governor Control for Self-Righting of Quadruped Robots: Preliminary Results. LARS/SBR/WRE 2022: 85-90 - [i12]Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. CoRR abs/2203.04434 (2022) - [i11]Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. CoRR abs/2208.00810 (2022) - [i10]Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini:
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. CoRR abs/2212.01246 (2022) - 2021
- [j8]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Effect of compliance on morphological control of dynamic locomotion with HyQ. Auton. Robots 45(3): 421-434 (2021) - 2020
- [j7]Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics 36(2): 443-457 (2020) - [j6]Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Feasible Region: An Actuation-Aware Extension of the Support Region. IEEE Trans. Robotics 36(4): 1239-1255 (2020) - [c15]Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. ICRA 2020: 1417-1423 - [c14]Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA 2020: 2436-2442 - [c13]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. ICRA 2020: 6127-6133 - [c12]Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Line Walking and Balancing for Legged Robots with Point Feet. IROS 2020: 3649-3656 - [p1]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. ECHORD++ 2020: 165-209 - [i9]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. CoRR abs/2003.09327 (2020) - [i8]Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Line Walking and Balancing for Legged Robots with Point Feet. CoRR abs/2007.01087 (2020)
2010 – 2019
- 2019
- [j5]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini:
Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs. IEEE Robotics Autom. Lett. 4(2): 2140-2147 (2019) - [i7]Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini:
Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR abs/1903.07999 (2019) - [i6]Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation over Soft Terrain. CoRR abs/1904.12306 (2019) - [i5]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR abs/1909.13842 (2019) - [i4]Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. CoRR abs/1910.06855 (2019) - 2018
- [j4]Victor Barasuol, Octavio Antonio Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini:
Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. Frontiers Robotics AI 5: 51 (2018) - [i3]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR abs/1805.10238 (2018) - [i2]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini:
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks. CoRR abs/1809.09759 (2018) - 2017
- [j3]Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. IEEE Robotics Autom. Lett. 2(2): 1023-1030 (2017) - [c11]Elco Heijmink, Andreea Radulescu, Brahayam Ponton, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Learning optimal gait parameters and impedance profiles for legged locomotion. Humanoids 2017: 339-346 - [c10]Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Kinematic design of a configurable terrain simulator platform for robotic legs. ICARM 2017: 167-172 - [c9]Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon:
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Robotics: Science and Systems 2017 - 2016
- [c8]Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Study on the morphological parameters of quadruped robot designs considering ditch traversability. ROBIO 2016: 283-288 - [i1]Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini:
Validation of computer simulations of the HyQ robot. CoRR abs/1604.06818 (2016) - 2015
- [j2]Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli:
Towards versatile legged robots through active impedance control. Int. J. Robotics Res. 34(7): 1003-1020 (2015) - [c7]Victor Barasuol, Marco Camurri, Stéphane Bazeille, Darwin G. Caldwell, Claudio Semini:
Reactive trotting with foot placement corrections through visual pattern classification. IROS 2015: 5734-5741 - [c6]Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini:
Slip Detection and Recovery for Quadruped Robots. ISRR (2) 2015: 185-199 - [c5]Hamza Khan, Satoshi Kitano, Marco Frigerio, Marco Camurri, Victor Barasuol, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Development of the lightweight hydraulic quadruped robot - MiniHyQ. TePRA 2015: 1-6 - 2014
- [j1]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics 7(2): 67-77 (2014) - 2013
- [c4]Victor Barasuol, Jonas Buchli, Claudio Semini, Marco Frigerio, Edson R. de Pieri, Darwin G. Caldwell:
A reactive controller framework for quadrupedal locomotion on challenging terrain. ICRA 2013: 2554-2561 - [c3]Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell:
Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS 2013: 6052-6057 - [c2]Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Jonas Buchli:
Is Active Impedance the Key to a Breakthrough for Legged Robots? ISRR 2013: 3-19 - [c1]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell:
Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA 2013: 1-6
Coauthor Index
aka: Octavio Villarreal
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